Gyro erecting mechanism



v. R. KIMBALL 2,370,904

GYRo ERECTING MECHANISM March 6, 1945.

Filed July 16, 1942 lllllxx...

www

Patented Mar. 6, 1'9115V UNITED STATES GYRo ERECTINGMECHANISM Vernon R.. Kimball, Maywood, N. J., assignor to Bendix Aviation Corporation, Bendix, N. J., a corporation of Delaware .so as to Aprovide an artificial horizon on moving vehicles such, for example, as aircraft, and more particularly, to self-erecting means for such de vices for maintaining the gyro spin axis vertical.

Devices of this general nature are known in the art, as represented by the United States patent to Robert Alkan, 2,159,118 issued May 23, 1939. Although suitable for most purposes, the problem with the use of such devices has been the lack of a suitable and rapid friction drive from the gyro rotor to the erecting mechanism. For example, unless the speed of the erecting mechanismV has followed the gyro rotation in a proper and predetermined relationship, the eiiect of acceleration forces or bearing friction will be to process the rotor from 'the true vertical and the' erecting mechanism will needed.v I

An ob'ject of the present invention, therefore,- is

ynot function properly when to provide a gyro vertical or artificial horizon with novel erectingmeans having. an. improved. friction drive which operates rapidly and eiiecy 2t driving the frame to roll the ball about its cirtively to maintain the properand desired speed Vrelationship between the gyro rotor and the erecting mechanism. Y Another object ofthe present invention is to provide a gyrovvertical or artiiicialhorizon having highly improved and novel means for rapidly damping the oscillations Vor precession of. the

gyroscope about its positionof equilibrium.

A further object of .the invention is .to provide a novel gyro vertical or artificial horizon in which or bearing friction are substantially reduced thereby improving the character of the gyroscope as a navigational instrument.

. The above and other objects and advantages of the invention will appear more fully hereinafter from a consideration ofthe detailed'description which follows, taken together with the accompanying drawing wherein one embodiment of the invention is illustrated. It i's to, be expresslyunderstood, however, that the drawing is for the purpose of illustration and description only and not desisned as a definition of the limits of the 5 Claims.

This invention relates to gyroscopic devicesfof f the typev adapted for indicating the true vertical disturbances thereof due to acceleration forces 40 Application July 16, Serial No. 451,173 ich 'J4-5) `Aprises a gyroscope having a gyro rotor mounted .15 Tin a gimbal suspension for spinning about a nor- -Thegyro vertical embodying the invention commally vertical axis 'and' for angular m'ovement about two mutually perpendicular horizontal axes at right angles to the spin axis, the rotor being enclosed and journalled in a casing carried by the gimbal suspension.' The gyro rotor may be driven electrically or yin any other suitable and desired manner known' in the art.

'I'he improved and novel means for stabilizing the gyroscope and, thus, maintaining its spin axis 15 .vertical in order that the gyroscope may serve as a gyrov vertical or artificial horizon comprises a.

weight in the form of a rolling ball confined to .travel in a circular path about the rotor spin axis. For this latter purpose there are provided means v20 in the form of a frame or carriage mounted cov axially with the gyro rotor spin axis to rotate the ball about the gyro spin axis.

Novel driving means having a slip driving con- I nection to the gyro rotor shaft areprovided for ).of the gyro rotor. -ilhe :braking means are in the v "ifgyro rotor shaft, thereby v-aoyciusing the rotatie cf-tnejrramtobe at @speed rsubstantially smaller the speed 'of rotation.

. `form ofanyescapement device Vcarried by the casing.

out before, is considerably smallerthan the `speed of rotation of the gyro rotor. For example, the

vframe may rotate at a speed of only a few dozensl ofrevolutions per minute, while the gyro rotor may have a speed of several thousand revolutions per minutes. l

As soon, however,*as the gyro spin axis departs from its normally vertical position, due to bearing friction, accelerations or other disturbing forces, the rolling ball cooperates with the braking means to cause the latter to produce a variadeveloped which return the gyro spin axis back l to vertical at which time the frameand ball are againbrought -back to a constant speed.

' Referring now to Figures 1 and 2 of the drawj. .As long as the rotor axis remainsyin its nor" mally vertical position, the frame rotates ata iframe and rcooperating ,with a wall ofthe gyro upper end ofthe shaft is journalled in a similar bearing (notshown) in the upper part',of the casing.

The casing II, in turn, is mounted in a gimbal suspensioncomprislng a gimbal ring I4 in which the casing is pivoted for angular movement about a horizontal axis formed by the trunnions I5, I5, the gimbal ring, in turn, being pivoted for angular movement about a second horizontal axis, perpendicular to the rstV axis, formed by trunnions I6, I6 which are journalled in a fixed support I1.

A stub shaft 20 is driven -by shaft IZand for -this purpose the stub shaft is provided with a projection I8 cooperating with'- a groove or transverse recess I9 formed in shaft-I2. A friction driving hub o`r drum 2l is secured for rotation with stub shaft 20 by means of a bolt 2,2 and, secured for rotation with drum 2| is an annular ange,23 provided with annular projections 24 which, in turn, cooperate and mesh with annular recesses 25 formed in a bearing cap 2B secured to a drum 21 by way of fastening means 28.

Drum 21 is secured to and forms a part of cas-l ing II and is arranged coaxially with and above the gyro rotor as shown in Figure 2, there being an opening 29 at its central portion for accommodating rotor shaft I2. If desired, a bearing'.

' (not shown) may be arranged in opening 29 for additional :lournalling of the rotor shaft.`

The arrangement of bearing cap 26 and rotatable flange 23 in the described manner serves a highly useful and desirable purpose by pre'- venting the entry and accumulation of dirt and grease to the rotor housing and the rotor shaft 'bearings.

A friction housing 30 is mounted concentrically with drum 2| and is provided at its lower end 'I'he friction housing 30 is provided with 'an and confined for limited rolling movement bei outer cylindrical shell 33 which, together with the outer periphery of drum 2I, forms a cham-v by way of pins 35 Aand 31, respectively, which, in

turn, are secured to the base of friction housing s 30. Each of segments 34 and 35 is provided with recessed portions for securely holding a pair of` friction shoes 33 and 39, the free and operative faces of which engage with drum 2I.

A helical spring 4I) is provided at the outer top edges of both segments 34 and 35 to yieldably pivot them about pins 36 and 31 to urge friction shoes 33 and 39 into engagement with drum- 2I. Tension of the friction shoes upon the driving drum may be varied and regulated, as desired,

` by changing'the length of the helical spring.

By virtue of the connection of friction housing `tion housing 30 has secured thereto 'the segments 34 and 35 carrying friction V'shoes 38' and 39, the carriage 32 is rotated by drum 2I about the gyro rotor spin axis.

The speed ,of rotation of carriage 32 must be substantially smaller than that of the rotor and likewise substantially independent of any variations in the rotor speed. Braking and regulating means are provided forthis purpose and constitute a roller 4I journalledby means of a shaft 42 -in an arm 43 pivoted and secured to carriage 32 at 44. Roller 4I engages the wall 45 of drum I21 to roll therealong when in engagement therewith whilecarriage 32 is rotated. Secured to or formed integrally with shaft 42of roller 4I to rotate therewith is an escapement starwheel 46 which cooperates with a forked anchor 41 pivoted at 49 on arm 43. The foregoing structure provides van escapement device having a nonisochronous return, the frequency or period of oscillation of the anchor depending on the speed of rotation of roller 4I and starwheel 46 to thus provide a vsmall retarding force on roller' 4I during relatively small speeds and a greatrretardingforce during increased lspeeds to maintain also by acceleration forces impressed upon the` anchor.

In order to render the system operative and 40 eective to produce erecting forces for returning 05 rotating the carriage aboutrotor .shaft I2, to-` the gyro spin axis to vertical in the' event the spin axis departs'from vertical for any reason, the outer peripheryI of carriage 32is provided with a cut out portion to accommodate a bracket 50, suitably fastened to the carriage, and having a wall member 5I, forming any auxiliary mass, Vformed integrally therewith and projecting to; ward drum 21 as shown in Figure 2.. A second wall member 52 v4"(liiig. 1), similar to member 5I, is

formed on the carriage or carried'thereby and A relatively y likewise projects toward'drum 21. heavy weight in the form of a rolling ballu 53 is now provided for rolling within acircular track or path defined by drum 21 and its side wall 45 tween wall members 5| and 52. Itv desired, wall member 52 may be dispensed with and ball 53 permitted to roll between wall member 5I and the free end of arm 43.I

In operation, when the carriage 32 through friction shoes 138, 39,seg ments 34, 35 and friction-housing 30, thereby miler 4| along wan as 1s regulated and limited by the actiony of anchor 41 which, in turn, de-

pends upon the speedof rotation ofcarriage'n.

Should the speed ofrotation of carriage 32 increase due toeither an increase in the speed of rotation lof rotor Il or due to othercauses,

' the rotation of roller'4lA along wall 45 is braked 34 with carriage 32 and the fact that the fric- 7l due to the increased frequency of oscillations:

gyro'roto la is rotated with its shaft I2. the driving h'ub or drum 2|, secured for rotation with stub shaft 20 drives anchor 41 upon starwheel 46, thereby retarding the rotation of carriage 32 and the rolling of With a decrease in the speed of rotation of v carriage 32, anchor 41 oscillates less frequently because the speed of rotation of roller 4| is decreased thereby reducing the braking action produced by the anchor upon roller 4 I, permitting a substantially u nopposed drive between the driving drum 2| and friction shoes 38 and 39. In this manner the speed of rotation of carriage A32 is increased. As a result, carriage 32 and rolling ball 53 tend to take up a speed of rotation such that the 'braking action .of anchor 41 always increases upon increased carriage speed to oppose the driving' torque between the driving drum and the friction shoes and decreases its opposition to the driving torque' at reduced carriage speed bringing about a substantially constant speed of rotation of the` carriage, which is entirely independent of the gyro rotor speed, and which can be brought down to a few dozens of revolutions per minute even though the rotor I and driving drum 2| rotate at several thousand revolutions per minute.

Assuming nowthat an acceleration force acts in the direction of central arrow 54A shown in Figure 1, and the plane of the paper, causing a departure of the rotor spin axis from the normally vertical position, and the gyro rotor together with carriage 32 are rotating clockwise as indicated by arrow 55 (Fig. 2), the action of the acceleration force exerted on wall member 5| will tend to increase the speed of carriage rotation at the instant member is in the position shown in Figure l and, at the same time, ball 53 will roll against member 5| thereby tending to cause a further increase in the speed of car' riage rotation until the moment when wall member 5| reaches a position diametrically opposite to that shown in Figure 1, at 4which point ball 53 rolls from member 5| t0 member 52 producing a momentary stopping of carriage rotation.. Be-

' cause of this momentary stopping of the ball and axis due to bearing friction'or causes other than ,acceleration forces results in the same operation of the erecting mechanism with the exception that in place of the acceleration forces, a.

gravitational pull is exerted upon ball 53 to speed up its rolling motion over one-half ofthe circumference of wall 45, depending upon the direction of tilt, and to slow up the ball during its upward movement. At the time that upward movement begins, momentary stopping of carriage 32 and ball 53, due to gravitational pull which is in the opposite direction at this point, results to create moments about either trunnions |5 or I6,

again depending Aupon the direction of tilt, to

cause the rotor to precess into its normally vertical position.

From-the foregoing, it will be apparent to those sk illed inthe art that a novel gyro vertical has been provided having novel erecting means, for maintaining the gyro spin axis in a t'rue vertical position at all times Without the use of pendulum controlled reaction air jets. By reason of the improved and novel erecting means,` the erecting system is not disturbed when the gyro vertical is used on aircraft during violent maneuvers but continues to lperform -its function properly and eiliciently at all times.

Although lbut a single embodiment voi theinvention has been illustrated and described, variouschanges and modifications in the form' and relative arrangement of parts,-which will now appear to those skilled in the art, may be made without departing from tion. Reference is therefore to be had to the appended claims for a deiinition of the limits of the invention.

1. In a gyro vertical, the combination of a gyroscope comprising a rotor mounted for spinning about a normally, vertical axis, a casing mounting said rotor for angular movement about two mutually perpendicular horizontal axes at right angles to the spinaxis, said casing having means forming a circular track coaxial with said spin axis, a rotatable carriage, means mountmg said carriage for rotation about the spin axis of said rotor, a slip-drive connection between said 4 rotor and said carriage comprising a friction axis to precess about trunnions '|5, l5 back to its normally vertical position.

Since the speed of rotation of carriage 32 and .the rolling of ball 53 is entirely independent of any variations'in gyro rotor speedv and, therefore, substantially constant when the rotor spin axis is in a true vertical position, the only variation in the speed of Acarriage rotation and the rolling of the ball is that caused by accelerations acting on ball 53 and wall member 5| and that due to deviation of the spin axis from the true vertical. For this reason, even a small acceleration is sufficient tomake the time during which the ball travels around one half or the circumference to materially differ from the' time required for it to travel around the other half of the circumference. Such a variation manifests i anism has been described only in connection with acceleration` forces acting to disturb the rotor spin axis. However, tilting of the rotor spin ,itself by a tendency of the gyro to erect its spin member drivenby said rotor and a pai-r of diametrically opposed friction shoes carried with said carriage and engaging said friction member whereby said carriage is rotated at a speed substantially less than the speed of said rotor, resilient means arranged concentrically with said rotor spin axis for urging said shoes into engagement with said member, regulating means carriedv by said carriage andin engagement with said casing for maintaining the speed of carriage rotation substantiallyk constant while the spin .Y

axis of said rotor is in its normally vertical position and adapted to vary the speed of carriage f rotation when the spin axes of said rotor deviates from said vertical position, and a weighted massadapted for :movementv with said carriage and in said track and being relatively displaceable upon deviation of said spin axis to actuate the regulating means to vary the speed of -rotation of said carriage whereby erecting forces are developed on l`the gyroscope to return saidspin axis to its normally vertical position. Y

2. In a gyro vertical, the combination' of a gyroscope comprising a'rotor mounted for spinning 'about a normally vertical axis, a casing mounting said rotor for angular movement about two muu tually perpendicular horizontal axes at right the scope of the inve`n angles to the spin axis, a friction drum driven by said rotor coaxially with said spin axis, a friction housing sleeved for relative rotation about said drum, a pair or friction shoes mounted within said housing, means comprising a resilient member arranged concentrically with said spin axis for yieldably urging said shoes into engagement with said drum whereby said housing is rotated at a sp'ed substantially less than the speed of said rotor, acarriage secured for rotation by said housing, brakingmeans on saidcarriage and in engagement with said casing for maintaining the speed of carriage rotation substantially constant when the rotor spin axis is in its normally vertical position and adapted to vary the speed of carriage rotation when said rotor spin axis deviates from said vertical position, and a 4weighted mass normally adapted for movement by said carriage about a Ipath concentric with said spin axis and being relatively displaceable with respectto saidv carriage upon deviation of said rotor spin axis to actuate the braking means to vary the speed of carriage and sleeved for rotationabout said drum,

rotation of said Acarriage whereby'erecting forces are developedoon the gyroscope to return said spin axis to its normally vertical position.

3. In a gyro vertical, the combination of agy. roscope comprising a rotor mounted for spinning about a normally vertical axis, a'casing mounting said rotor for angular movement about two mutually perpendicular horizontal axes at right pair of arcuate members pivotally, mounted within said housing, a pair of friction shoes supported by said members, an annular resilient member' engaging said arcuate members to urge said shoes into engagement with said drum whereby said' housing is rotated at a speed substantially less than the speed of. said rotor, a carriage secured for rotation by said housing, braking means o'n normally vertical position.

movement by said carriage about a path concentricwith said spinl axis and being relatively movable with respecty to said carriage upon deviation of said rotor spin axis to actuate the braking means to vary vthe speed oi rotation of .said carriage wherebyV erecting forces are developed on the gyroscope to return said spin axis .to its `of said rotor is in its normally vertical position and at a varying speed when the rotor spin axis deviates from the vertical position, ot a friction drive between said rotor and said carriage comy prising afriction drum coaxial with the rotor spin axis and driven by the rotor, an annular and sube stantially hollow friction housing mounting said ment with said drum. 5. The combination with a gyro vertical hawV ing erecting means therefor for maintaining the rotor spin axis in a normallyvertical position and comprising a carriage rotatable about the rotor said carriage-and in .engagement with said casing for maintaining the speed of carriage rotation substantially constant when the rotor spin axis is in its normally vertical position and adapted to vary the speed of carriage rotation when said spin axis at a substantially constant speed less than the speed of rotor rotation when the spin axis of within said annular member,l a pair of friction shoes supported by said arcuate members, and an annular resilient member engaging said arcuate members to yieldably urge said shoes into with said drum.

driving engagement VERNON R. KIMBALL.

hav- 

